CN101496740B - Image display apparatus and image display system - Google Patents
Image display apparatus and image display system Download PDFInfo
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- CN101496740B CN101496740B CN2009100098348A CN200910009834A CN101496740B CN 101496740 B CN101496740 B CN 101496740B CN 2009100098348 A CN2009100098348 A CN 2009100098348A CN 200910009834 A CN200910009834 A CN 200910009834A CN 101496740 B CN101496740 B CN 101496740B
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0012—Biomedical image inspection
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/12—Devices for detecting or locating foreign bodies
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/48—Diagnostic techniques
- A61B6/481—Diagnostic techniques involving the use of contrast agents
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/50—Clinical applications
- A61B6/504—Clinical applications involving diagnosis of blood vessels, e.g. by angiography
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
- G06T5/50—Image enhancement or restoration by the use of more than one image, e.g. averaging, subtraction
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- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H30/00—ICT specially adapted for the handling or processing of medical images
- G16H30/20—ICT specially adapted for the handling or processing of medical images for handling medical images, e.g. DICOM, HL7 or PACS
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- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
- G16H40/60—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices
- G16H40/63—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for local operation
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/52—Devices using data or image processing specially adapted for radiation diagnosis
- A61B6/5211—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data
- A61B6/5229—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data combining image data of a patient, e.g. combining a functional image with an anatomical image
- A61B6/5235—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data combining image data of a patient, e.g. combining a functional image with an anatomical image combining images from the same or different ionising radiation imaging techniques, e.g. PET and CT
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10116—X-ray image
- G06T2207/10121—Fluoroscopy
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/20—Special algorithmic details
- G06T2207/20212—Image combination
- G06T2207/20221—Image fusion; Image merging
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30004—Biomedical image processing
- G06T2207/30021—Catheter; Guide wire
Abstract
A storage unit stores data of a plurality of previous images of a plurality of regions generated during a previous catheter procedure. A route map generating unit arranges a plurality of first catheter images or blood vessel images included in the plurality of previous images according to the positional relationship between the plurality of regions to generate a route map indicating the distribution of the plurality of first catheter images or blood vessel images. A specifying unit specifies a specific portion of a second catheter image included in a current image generated during a current catheter procedure. A calculating unit calculates the position of the specified specific portion on the route map on the basis of the positional relationship between the current image and the previous image. A display unit displays a specific previous image corresponding to the calculated position.
Description
The application is based on the Japan of submitting on January 31st, 2008 patent application 2008-21492 formerly, and requires to enjoy its priority, and rear a application is all incorporated the application into way of reference.
Technical field
The present invention relates to for conduit operation (operaion) auxiliary image display device and image display system.
Background technology
Current IVR (InterVentional Radiology, the i.e. Interventional actinotheraphy) operation (procedure) of carrying out the treatment of pathological changes section with video generation devices such as radiographic apparatus prevailing.In the IVR operation, operate by conduit and carry out reconstructing blood vessel (angioplasty), blood vessel embolism (angioembolization) etc.In recent years, the various technology (for example with reference to TOHKEMY 2000-342565 communique) that the medical appliance such as in IVR operation subsidiary conduit is advanced to pathological changes section are proposed.The system that is used for enforcement IVR operation comprises: above-mentioned video generation device, image management apparatus (PACS:PictureArchiving and Communication System) and image observing device.Image management apparatus is kept at the image that obtains in the IVR operation.Image observing device is for the device of observing image.Image observing device is arranged in the inspection chamber of implementing the IVR operation.
In IVR operation, the doctor wants the image that obtains with reference in IVR operation in the past sometimes.The image that obtains in the past IVR operation in order to reference need to be inputted its identifying information to image observing device for each image.But in IVR operation, doctor's hands is not owing to carrying out conduit operation (operation) etc. freely.Therefore, the image of reference is limited to predefined image.Sometimes the technician carries out input operation according to doctor's indication, wants spended time but retrieval is suitable for the image of IVR operation.IVR operation during this time is temporary transient to be interrupted, and therefore generates the shortcomings such as the reduction of IVR operating efficiency, patient burden's increase.
Summary of the invention
The object of the present invention is to provide a kind of image display device and image display system that can improve the operating efficiency in the IVR operation.
The image display device of the present invention's the first scheme is, possess: storage part, be stored in the data of the past image that generates in catheterization in the past, that described image in the past and a plurality of positions are set up respectively is related, a plurality of zoness of different are photographed and the image that obtains; Determination portion, the determining section of definite conduit picture from the present image that generates current catheterization; And display part, show in above-mentioned a plurality of in the past image the past image determined corresponding with the position of above-mentioned definite determining section.
The image display device of alternative plan of the present invention is, possesses: storage part is stored in that generate in catheterization in the past, relevant to a plurality of zones a plurality of data of image in the past; Generating unit configures a plurality of the first conduit pictures or the blood vessel picture that comprises respectively in above-mentioned a plurality of image in the past according to the position relationship in above-mentioned a plurality of zones, generate thus the route map of the distribution of above-mentioned a plurality of the first conduit pictures of expression or blood vessel picture; The first determination portion, the determining section of the second conduit picture that the present image of determining to generate in current catheterization comprises; The first calculating part according to above-mentioned present image and the above-mentioned position relationship of image in the past, calculates the above-mentioned definite position of determining section on above-mentioned route map; And display part, show the past image of determining in above-mentioned a plurality of image in the past, corresponding with the position of above-mentioned calculating.
The image display system of third party's case of the present invention is, possesses video generation device, image management apparatus and image observing device, it is characterized in that, above-mentioned video generation device has: generating unit generates the data of the present image in current catheterization; With the first sending part, the data of the present image of above-mentioned generation are sent to above-mentioned image management apparatus, above-mentioned image management apparatus has: storage part, be stored in the data of the past image that generates in catheterization in the past, that this past image and a plurality of positions are set up respectively is related, a plurality of zoness of different are photographed to be obtained; Determination portion is determined the conduit picture from the present image of above-mentioned transmission; Selection portion from the data of above-mentioned a plurality of in the past images, is selected the data of the definite past image corresponding with above-mentioned definite conduit the position of image; And second sending part, the data of the past image of determining of above-mentioned selection are sent to above-mentioned image observing device, above-mentioned image observing device has display part, and this display part shows definite past image of above-mentioned transmission.
The image display system of the cubic case of the present invention is, possess video generation device, camera system, image management apparatus and image observing device, it is characterized in that, above-mentioned video generation device has: generating unit generates the data of the present image in current catheterization; With the first display part, the present image that shows above-mentioned generation, above-mentioned camera system is recorded a video to photograph to the present image of above-mentioned demonstration and is generated video data, and the video data transmitting that generates is delivered to above-mentioned image management apparatus, above-mentioned image management apparatus has: storage part, be stored in the data of the past image that generates in catheterization in the past, that this past image and a plurality of positions are set up respectively is related, a plurality of zoness of different are photographed to be obtained; Determination portion is determined the conduit picture from the video data of above-mentioned transmission; Selection portion from the data of above-mentioned a plurality of in the past images, is selected the data of the definite past image corresponding with above-mentioned definite conduit the position of image; And second sending part, the data of the past image of determining of above-mentioned selection are sent to above-mentioned image observing device, above-mentioned image observing device has the second display part, and this second display part shows definite past image of above-mentioned transmission.
Other purpose of the present invention and advantage will be listed in detailed description part below, and they will be also apparent according to declaratives, perhaps can learn by implementing the present invention.Objects and advantages of the present invention can realize and obtain by means of means and the compound mode that lower mask body provides.
Description of drawings
Accompanying drawing is the part of description, and they show currently preferred embodiment of the present invention, and, together with the summary description that provides above and preferred embodiment given below describe in detail, illustrate principle of the present invention.
Fig. 1 means the figure of structure of the image display system of embodiment of the present invention.
Fig. 2 means the figure of processing summary of the image display system of Fig. 1.
Fig. 3 means the figure of structure of the image management apparatus of Fig. 1.
Fig. 4 means that the route map of the route map generating unit of Fig. 3 generates the figure of the flow process of processing.
Fig. 5 mean in the storage part that is stored in Fig. 3, presentation video sequence number and the figure of the corresponding table of image in the past.
Fig. 6 means the figure by an example of the route map of the route map generating unit generation of Fig. 3.
Fig. 7 means the figure of corresponding table in the storage part that is stored in Fig. 3, expression route map and inspection identifying information.
Fig. 8 is the figure for the step SA8 of key diagram 4 (processing of route interpolation).
Fig. 9 is other figure for the step SA8 of key diagram 4 (processing of route interpolation).
Figure 10 is other figure for the step SA8 of key diagram 4 (processing of route interpolation).
Figure 11 means the figure of the flow process of the automatic retrieval of past image of control part 21 of Fig. 3 and transmission processing.
Figure 12 is the figure be used to the processing of the step SB7 that illustrates Figure 11～step SB10.
Figure 13 means that the route map different from Fig. 4 generates the figure of the route map of processing.
Figure 14 means the figure of structure of the image display system of variation 1.
Figure 15 has utilized the figure of calculating of camera positions of the camera system of Figure 14 for explanation.
Figure 16 means the figure of structure of the image display system of variation 2.
Figure 17 means the figure of other structures of the image display system of variation 2.
Figure 18 means the figure of another other structures of the image display system of variation 2.
Figure 19 means the figure of structure of other image display systems of variation 3.
Figure 20 gives the figure of processing for the camera positions of explanation variation 3.
The specific embodiment
Below, describe with reference to image display device and the image display system of accompanying drawing to embodiments of the present invention.
The image display system of present embodiment is in IVR operation, the doctor to be advanced to medical appliance (conduit or conductor rope etc.) guidance system that pathological changes section is assisted.Usually, IVR operation is not same subject is only carried out once but to implement repeatedly in (such as one month, half a year etc.) during certain.And the image that will generate in the IVR operation is preserved.
Present embodiment is in current IVR operation, automatically select the image corresponding with the catheter position of current IVR operation in a plurality of images that generate and show from IVR operation in the past.
Fig. 1 means the figure of structure of the image display system of present embodiment.Image display system as shown in Figure 1 possesses video generation device (radiographic apparatus) 10, image management apparatus (PACS) 20 and the image observing device (computer installation) 30 that mutually connects via network.
In the IVR operation, subject is carried out X-ray or radioscopy, generated the view data of photographs or fluoroscopy images etc. by video generation device 10.View data is associated with its camera positions.The position of the X-ray detector of the video generation device 10 when camera positions are for example X-ray or radioscopy.In IVR operation, video generation device 10 for example generates and from the insertion section of conduit to pathological changes section (for example lung blood vessel) till a plurality of view data of many places.Each image comprises the conduit picture.
Below, the group of a plurality of images that will generate in an IVR operation is called the operation image sets.And the image that will generate in current IVR operation is called present image, and the image that generates in IVR operation in the past is called image in the past.
Above-mentioned video generation device 10, image management apparatus 20 and image observing device 30 are independently to install via interconnective each of network.But present embodiment does not limit it.For example, can be also with video generation device, image management apparatus and the image observing device device (image display device) as one.
(conduit operating procedure)
At first, the step of the conduit operation in the IVR operation is described.
Step 1 (DSA photography): make before conduit advances, need in advance to generate by image display device 10 data of the blood-vessel image that is used for holding vascular morphology.Blood-vessel image generates according to following step.1, before propulsion bulb, image display device 10 carries out X-ray and generates the data of mask images.2, doctor etc. injects contrast agent from catheter proximal end.3, then image display device 10 generates the data of contrast images.4, image display device 10 deducts mask images from contrast images, and generates the blood-vessel image data that are used for confirming vascular morphology.
Step 2 (conduit moves): when generating the blood-vessel image data, 10 pairs of subjects of image display device carry out radioscopy and generate in real time the data of fluoroscopy images (present image).Doctors etc. advance conduit on one side with reference to blood-vessel image and fluoroscopy images on one side to pathological changes section.In conduit moves, in the situation that want detailed image, sometimes also carry out X-ray and generate photographs.
Step 3: when conduit moves to when wanting to know the position of vascular morphology, doctor etc. make image display device 10 temporarily stop radioscopy.And then carry out step 1 (DSA photography) and generate new blood-vessel image data.Then, carry out step 2 (conduit moves).By repeating this action, the doctor makes conduit arrive pathological changes section.
(the processing summary of image display system)
Fig. 2 means that the route map of the image display system of present embodiment generate to be processed, the figure of the summary of the automatic selection of the past image in current IVR operation and display process.
At first, carrying out generating in advance route map before current IVR operation.Simple in order to illustrate, the past image that consists of route map is made as the first past image PI1, second image PI2 and the 3rd past image PI3 in the past.First contains conduit insertion section SP in image in the past.The 3rd contains the pathological changes GP of section in image in the past.These in the past images be and the different photographies position of subject, radioscopic image that namely the photography zone is relevant.And these past images contain respectively the conduit picture.These in the past images can be fluoroscopy images, can be also the photographs of mask images etc.Image management apparatus 20 is configured in these past image PI1, PI2, PI3 on route map plane RP according to camera positions, generates thus route map RM.In other words, image management apparatus 20 generates route map RM thus with these image PI1, contained 3 conduit pictures combinations of PI2, PI3 in the past.So, route map will look like to be presented in 1 plane across the regional a plurality of conduits of a plurality of photographies.
In current IVR operation, video generation device 10 generates the present image CI of subject P, and the present image CI that generates is sent to image management apparatus 20.Present image CI can be fluoroscopy images, can be also the photographs of mask images etc.Where the determining section (typically being catheter proximal end) that image management apparatus 20 calculates the conduit picture that present image CI contain is in go route map RM, and select to be in the past image (for example second image PI2) in the past of the next stage of current catheter proximal end position CP from a plurality of present images, the past image of selecting is sent to image observing device 30.Image observing device 30 shows the past image that sends.
(structure of image management apparatus 20)
Fig. 3 means the figure of the structure of image management apparatus 20.Image management apparatus 20 shown in Figure 3 possesses Department of Communication Force 22, storage part 23, route map generating unit 24, catheter proximal end determination portion 25, catheter proximal end position calculation section 26 and the image selection portion 27 of control part 21 as maincenter.
Department of Communication Force 21 receives the various data such as view data from video generation device 10 or image observing device 30, perhaps sends various data to video generation device 10 or image observing device 30.
Storage part 23 will check that operation (procedure) identifying informations such as ID are associated with operation (procedure) image sets and store.The past image correlation that storage part 23 comprises image recognition information (image I D etc.) or camera positions and operation image sets joins to be stored.And storage part 23 will operate identifying information and be associated with the route map that is generated by route map generating unit described later 24 and store.In addition, storage part 23 is associated image recognition information or camera positions and stores with present image.
Route map generating unit 24 pass course figure generate processing, and a plurality of images in the past that contain according to 1 operation image sets generate 1 route map.Specifically, a plurality of conduit pictures that route map generating unit 24 contains about a plurality of in the past images are according to the relative position relation (relative position relations of the camera positions of past image) in the photography zone of a plurality of images in the past, generation route map.In other words, route map generating unit 24 according to the relative position relation between a plurality of conduit pictures, should a plurality of conduits looks like to be configured on the route map plane, generates thus route map.The route map plane is the space on the memorizer of a plurality of in the past images of configuration.The route map plane is represented by following patient coordinate system: the major axis that will put the bedroom platform of subject is defined as Z axis, and the minor axis of bedroom platform is defined as X-axis.All images in the past that the corresponding operation image sets of can using route map contains also can use a plurality of present images of suitable selection (such as official hour interval, location interval etc.).To the pixel of each route part of the route that consists of route map, distribute the image recognition information of the past image of each route part institute foundation.Generate the detailed content of processing about route map, will narrate in the back.
Catheter proximal end determination portion 25 determines according to the shape of catheter proximal end the catheter proximal end picture that present image contains.
Catheter proximal end position calculation section 26 is according to the camera positions of present image and the catheter proximal end position on present image, the catheter proximal end position on calculated route figure.
(route map generates and processes)
Below, illustrate that route map generates the detailed content of processing.Fig. 4 means that route map generates the figure of the flow process of processing.Control part 21 waits for that request generates route map (step SA1).Wait take the doctor and utilize 20 requests of 30 pairs of image management apparatus of image observing device to begin to generate route map as opportunity (step SA1: be), control part 21 makes route map generating unit 24 carry out route map and generates processing.Wait by the doctor and utilize image observing device 30 inputs as the operation identifying information of the operation image sets on the basis of the route map that begins now to generate, request beginning route map generates and processes thus.The operation identifying information specifically patient ID, check at least one in ID, check day or Study/Series UID etc.
At first, route map generating unit 24 is selected and is read in route map and generates needed image (step SA2) in the past.For example, route map generating unit 24 will operate identifying information and operate image sets as keyword from storage part 23 retrievals are corresponding, and read in a plurality of images in the past that definite operation image sets comprises.
Route map generating unit 24 determines coordinate and the size (step SA3) on route map plane according to camera positions and the size of all past images that read in.A plurality of images in the past that 24 pairs of route map generating units are read in distribute respectively the image recognition information (step SA4) such as picture numbers according to its photography moment step.
Fig. 5 illustrates picture numbers and the figure of an example of the corresponding table (hereinafter referred to as the corresponding table of picture numbers) of image in the past.As shown in Figure 5, the corresponding table of picture numbers comprises the project of the filename of route map ID, picture numbers and past image for the identification route map.For example, give picture numbers 1 to the past image with filename " Image05.dcm ".The corresponding table of this picture numbers is stored in storage part 32.
24 pairs of a plurality of images in the past of route map generating unit carry out respectively the image processing such as binaryzation, and extract a plurality of conduit pictures (step SA5).For example, the pixel of conduit picture is distributed pixel value " 1 ", the pixel beyond the conduit picture is distributed pixel value " 0 ".Route map generating unit 24 is according to the relative position relation between a plurality of conduit pictures (camera positions of past image), and a plurality of conduits that extract are looked like to be configured on the route map plane, generates thus route map (step SA6).
Specifically, at first, route map generating unit 24 is for each pixel that consists of the conduit picture, according to the camera positions of the past image relevant to this conduit picture and the position of this pixel on the past image, the conduit the position of image on calculated route figure on (patient coordinate system).The position of the respective pixel on the past image is for example by stipulating to the distance of this pixel from the basic point on the past image (for example end points or mid point).Then, the pixel of the position on the route map of 24 pairs of calculating of route map generating unit is distributed picture numbers.So, conduit is looked like to be configured on route map.The conduit that is configured on route map is looked like to be called the route part.In addition, at least a portion in the route part relevant to the picture numbers of No. n and the route part relevant with the picture numbers of No. n-1 is overlapping sometimes.At this moment, the picture numbers of overlapping part adopts any one party (for example less side of sequence number (No. n-1)).
In the time of on all conduits being looked like to be configured in the route map plane, route map generating unit 24 processes to judge by the image such as cutting apart whether route interrupts (step SA7).Interrupt (step SA7: be) in the situation that be judged as route, route map generating unit 24 is according to the interval that clips interruption and the inclination on the route map of 2 adjacent routes parts is carried out interpolation (step SA8) to the interval of interrupting.About the detailed content that this route interpolation is processed, will narrate in the back.
Do not interrupt (step SA7: no) in the situation that be judged as route, route map is completed, and finishes the route map generation and process.
When be judged as (step SA7: no) when not interrupting in step SA7, perhaps when interpolation is carried out in the interval of interrupting (step SA8), route map is completed, and route map generating unit 24 finishes route maps and generates and process.Fig. 6 means the figure of an example of route map.As shown in Figure 6, route map represents the route of the conduit in the IVR operation in past of this route map institute foundation.Sequence number to the pixel image of giving over that consists of route.For example, the first route part RS1 is according to having the conduit picture that comprises in the past image of picture numbers " 1 ".
The route map that generates is associated with inspection identifying informations such as patient ID, inspection ID and stores storage part 23 into.Fig. 7 means the figure of route map and an example of the corresponding table (hereinafter referred to as the corresponding table of route map) that checks identifying information.As shown in Figure 7, the corresponding table of route map has the inspection ID of patient ID, IVR operation and the project of route map ID.For example, route map ID " 001 " sets up related with patient ID " 00000001 ", inspection ID " 100 ".
Below, the route map that route map generating unit 24 is described in detail in detail generates the step SA8 (processing of route interpolation) that processes.Fig. 8 means the figure of the route map with interrupt unit.As shown in Figure 8, being assigned with the route part RS2 of picture numbers " 2 " and being assigned with between the route part RS3 of picture numbers " 3 " interrupts.As shown in Figure 8, at first, route map generating unit 24 is determined end points EP2 and the end points EP3 of each route.Specifically, at first, route map generating unit 24 is with each route part RS2, RS3 graph thinning.In Fig. 8, the pixel (hereinafter referred to as the fine rule pixel) that consists of fine rule is the pixel that the picture numbers with thick word represents.Then, the route map generating unit 24 fine rule pixel that will only have a fine rule pixel of 1 adjacency is set as end points EP.
Then, as shown in Figure 9, route map generating unit 24 sets in order to obtain the inclination of each route part RS2, RS3 fine rule pixel GP2, the GP3 (hereinafter referred to as guiding point) that leaves predetermined distance (for example 4 pixels) from end points EP for each route part RS2, RS3.In Fig. 9, guiding point is the pixel that represents with the picture numbers with underscore.Then, route map generating unit 24 couples of route part RS2, RS3 set from guiding point GP2, GP3 to end points EP2, straight line L2, the L3 (inclination) of EP3 direction.2 straight line L2, L3 extend 1 pixel at every turn, until mutually intersect.Distribute expression to carry out the picture numbers " A " of the situation of interpolation to the pixel (hereinafter referred to as interpolated pixel) that is on extended line.So, between route part RS2 and route part RS3, be connected by the extended line that is consisted of by a plurality of interpolated pixels.
Then, as shown in figure 10, route map generating unit 24 be by being expanded to by the extended line that interpolated pixel consists of the thickness of adjacent route part RS2, RS3 left and right, thus the interpolation part of interrupting.Specifically, for the pixel that is not assigned with picture numbers, namely on longitudinal direction or transverse direction with the pixel of extended line adjacency, distribute picture numbers " A ".As a result, extended line is inflated, and forms route part RSA.
As mentioned above, in step SA7, route map generating unit 24 is according to the inclination of route part RS2 and the inclination of route part RS3, and pass course part RSA comes the part of interpolation interruption.The interpolation of above ending step SA9 is processed.In addition, also the picture numbers " A " with interpolation part can be replaced into the picture numbers (picture numbers 2 or picture numbers 3) that has with the route of interpolation part adjacency.And above-mentioned interpolating method is to carrying out linear interpolation between route part RS2 and route part RS3, still also can carrying out ad doc by conic section or cubic curve.And route map generating unit 24 comes manual correction to carry out the route part RSA of interpolation for being waited by the doctor via image observing device 30.
(automatic selection and the display process of past image)
Below, illustrate in current IVR operation, used the automatic selection of past image of route map and the clinical practice example of display process.Doctors etc. want to confirm the content of IVR operation in the past sometimes in current IVR operation.For example, the route that in the past IVR operation, conduit passes through or the vasculature part that begins now to arrive have or not gland, support to implant the state of (ス テ Application ト indwelling) or the situation of the operation carried out in the past etc.
Figure 11 means the figure of the flow process of the automatic retrieval of past image of control part 21 of image management apparatus 20 and transmission processing.At first, control part 21 receives (step SB1) via 22 pairs of data from the present image of video generation device 10 transmissions of Department of Communication Force.Present image can be fluoroscopy images, can be also contrast images.Give the image recognition information such as patient ID of subject, the camera positions of present image etc. for the present image that receives.The present image that receives is set up related storing in storage part 23 with image recognition information and camera positions.
When receiving present image, control part 21 makes catheter proximal end location positioning section 25 carry out the catheter proximal end location positioning and processes, and makes image selection portion 27 carry out route map to read in processing.
In catheter proximal end was determined to process, catheter proximal end determination portion 25 determined according to the shape of catheter proximal end the catheter proximal end picture (step SB2) that contains in present image.Read in processing at route map, the patient ID that image selection portion 27 will be endowed present image comes retrieve stored section 23 as keyword, determines to have the route map of this patient ID, and reads in determined route map (step SB3).
When step SB2 and step SB3 finished, control part 21 made catheter proximal end position calculation section 26 carry out the catheter proximal end position calculation and processes.In the catheter proximal end position calculation was processed, catheter proximal end position calculation section 26 was according to the camera positions of present image and the catheter proximal end position on present image, the catheter proximal end position (step SB4) on calculated route figure.Specifically, 26 pairs of catheter proximal end positions on present image of catheter proximal end position calculation section, the distance from basic point (for example end points or mid point) to this catheter proximal end position in the present image that represents according to the camera positions of this current image, by the coordinate system of present image is calculated current catheter proximal end position of (patient coordinate system) on route map.In addition, in the past in the camera positions tool situation devious of the camera positions of image and present image, such as by the position deviation amount of the identical point on the anatomy of the subject that draws (such as the bone of the same area of Thigh bone etc.) is calculated, can obtain in advance the correction value of deviation in image.Then, according to the camera positions of present image, distance and correction value from basic point to the catheter proximal end position on present image, calculate the current position of catheter proximal end on route map.
During catheter proximal end position on calculating route map, control part 21 makes image selection portion 27 carry out picture numbers to have or not judgement to process.Have or not during judgement processes in picture numbers, image selection portion 27 judges whether to have given picture numbers (step SB5) to the pixel of the catheter proximal end position on route map.
Do not give picture numbers (step SB5: no) in the situation that be judged as, control part 21 sends the notice (step SB6) of the meaning that there is no to pass by accordingly image via 22 pairs of image observing devices of Department of Communication Force 30.The notice that sends is presented on image observing device 30.
Given picture numbers (step SB5: be) in the situation that be judged as, control part 21 makes image selection portion 27 carry out the picture numbers comparison process.In the picture numbers comparison process, near the pixel of image selection portion 27 search catheter front positions, and near judgement the picture numbers of pixel whether than the picture numbers large (step SB7) of the pixel of catheter proximal end position.Near supposing, pixel is on route, pixel leave predetermined distance (for example 5 pixels) towards pathological changes section from the catheter proximal end position.Predetermined distance can be waited by the doctor and at random set via image observing device 30.
In the situation that near being judged as, the picture numbers of pixel is than the picture numbers large (step SB7: be) of the pixel of catheter proximal end position, control part 21 makes image selection portion 27 carry out the first image selection in the past and processes.During image select to be processed in the past, image selection portion 27 was come retrieve stored section 23 with near the picture numbers of pixel as keyword, and the past image (step SB8) of determining to have this picture numbers from a plurality of images in the past.
In the situation that near being judged as the picture numbers of pixel large unlike the picture numbers of the pixel of catheter proximal end position, be identical (step SB7: no), control part 21 make image selection portion 27 carry out second in the past image select to process.Second during in the past image is selected to process, image selection portion 27 is come retrieve stored section 23 with the picture numbers of the pixel of catheter proximal end position as keyword, and the past image (step SB9) of determining to have this picture numbers from a plurality of images in the past.
When step SB8 and step SB9 end, the past image that control part 21 will be determined sends to image observing device 30 (step SB10) via Department of Communication Force 22.The past image that receives is presented in image observing device 30.Image observing device 30 also can be with route map with image or present image show simultaneously in the past.In the situation that there is the interpolation part in route map, also the interpolation part partly can be distinguished demonstration with other routes.And image observing device 30 also can be expressed the catheter proximal end position on route map, shows route map.And image observing device 30 also can be expressed the position of the past image in the demonstration on route map, shows route map.And image observing device 30 also can be expressed the objective (for example pathological changes GP of section of Fig. 2) in other parts on route map, the IVR operation of for example passing by, and shows route map.As the method for expressing, have to make the pixel of expressing part use the color different from other pixels to show, make its flicker, the method that it is shown with different lightnesses.And, also can give sign to expressing part.
The idea of step SB7～step SB10 institute basis is the " situation of the blood vessel that enters from now on for assurance in advance, and show image in the past.Therefore, the past image of wanting to show is the image relevant to position before current catheter proximal end position, and is also nonsensical but demonstration was left image far away from current catheter proximal end position ".
Figure 12 is the figure be used to the processing that illustrates step SB7～step SB10.As shown in figure 12, the pixel CP2 that considers the pixel CP1 of the first catheter proximal end position and near the pixel NP1 corresponding with pixel CP1 and the second catheter proximal end position reaches near the pixel NP2 corresponding with pixel CP2.In addition, near pixel is set at the position of leaving 5 pixels from the catheter proximal end position.
As shown in figure 12, the first pixel CP1 is positioned on route part RS2.Near the pixel NP1 of this first pixel CP1 is positioned on route part RS3.At this moment, near the picture numbers of pixel NP1 " 3 " is larger than the picture numbers " 2 " of pixel CP1, therefore, in step SB8, selects the past image with picture numbers " 3 ".That is, show the past image relevant to the position of advancing a little than current catheter proximal end position.And as shown in figure 12, the second pixel CP2 is positioned on route part RS2, leaves 6 more than pixel to route part RS3.Therefore, near the pixel NP2 corresponding with image C P2 also is positioned on route part RS2.At this moment, the picture numbers of pixel CP1 " 2 " is identical with the picture numbers " 2 " of pixel NP1 near, therefore, in step SB9, selects the past image with picture numbers " 2 ".Therefore, according to above-mentioned automatic selection and display process, automatically select and show to corresponding to the relevant past image in the appropriate location of current catheter proximal end position.
In addition, automatic selection and the display process of past image are not limited only to said method.For example, the situation that also the catheter proximal end position can be arrived certain position on route map is as opportunity, the past image that retrieval is corresponding with the catheter proximal end position.Figure 13 means the figure of the route map of other automatic retrievals and transmission processing.As shown in figure 13, route map generating unit 24 is set as the triggering pixel to pixel B P1, the BP2 (pixel that the oblique line of Figure 13 represents) of the boundary of route part RS1, RS2 on other route maps (the tight front of next route part).The situation that catheter proximal end arrive is triggered pixel B P1, BP2 is as opportunity, and 27 retrievals of image selection portion have the past image of the picture signal of triggering pixel B P1 that comparison arrives, picture numbers large 1 that BP2 gives.For example, be " 1 " (triggering pixel B P1) in the situation that be given to the picture numbers that triggers pixel, the picture numbers of the past image of retrieving is " 2 ".In addition, in the above description, trigger pixel and send out as being positioned at the boundary of route part, still triggering pixel also can be set in position arbitrarily.
And in the situation that a plurality of in the past image and same position are set up is related, for example, the image more than definite information that also can record from the incidental information of this image (such as content of operation etc.) begins to show successively.
According to said structure, image display system is by utilizing the suitable past image that route map is automatically selected and demonstration is corresponding with current catheter proximal end position, can assist thus the IVR that the doctor carries out to operate, and effectively use the data of the past image of huge quantity.And, according to present embodiment, can improve the operating efficiency of IVR operation.
In addition, the present invention is not limited to above-mentioned embodiment itself, the implementation phase can be out of shape element in the scope that does not break away from its invention spirit and specialize.
(variation 1)
In variation 1, illustrate and do not add the embodiment of the situation of camera positions the image that sends from video generation device 10.Figure 14 means the figure of structure of the image display system of variation 1.As shown in figure 14, the image display system of variation 1 has video generation device 10, image management apparatus 20, image observing device 30 and camera system 40.Camera system 40 is arranged in inspection chamber.The arm front end (for example X-ray detector) of the video generation device 10 in 40 pairs of camera systems photography present images and bedroom platform record a video photography and generating video data.The video data that generates is sent to image management apparatus 20.Image management apparatus 20 has not shown picture position calculating part.The picture position calculating part is according to the relative position relation of the X-ray detector on video data and bedroom platform, the camera positions of computed image.The camera positions of calculating are endowed from the image that video generation device 10 sends.
Figure 15 has utilized the figure of calculating of the camera positions of camera system 40 for explanation.As shown in figure 15, camera system 40 has the first camera system 40-1 and the second camera system 40-2.The first camera system 40-1 is horizontal from the bedroom platform, and the labelling M1B that is arranged on the labelling M1A on X-ray detector and be arranged on the bedroom platform is photographed.The second camera system 40-2 vertically photographs to the labelling M2B that is arranged on the labelling M2A on X-ray detector and be arranged on the bedroom platform from the bedroom platform.Labelling M1A, M1B, M2A, M2B are for example the spheroid labellings with prescribed level.The picture position calculating part stores the size on the video of labelling M1A, M1B on the reference position, M2A, M2B.The picture position calculating part is poor according to the size on the video of the size on the video of labelling M1A, M1B on the reference position and labelling M1A, M1B on comparison position, calculates the distance between the first camera system and labelling M1A, M1B.Then, the picture position calculating part is according to each distance of calculating, calculates X-ray detector on the Z direction and the distance between the bedroom platform.Equally also calculate X-ray detector on directions X and the distance between the bedroom platform.
The camera positions of calculating are given to has photography constantly the image constantly roughly the same with the photography of video data.Can carry out the processing identical with processing (for example, the route map of Fig. 4 generates automatic selection and the display process of processing, Figure 11) afterwards.
In addition, camera system 40 has carried out the video camera photography for the position of Calculation of X-Ray detector and bedroom platform.But, also can pass through ultrasound wave or ultrared irradiation and detection or the detections such as earth magnetism or magnetic line of force conversion, the position of Calculation of X-Ray detector and bedroom platform.
By said structure, in the situation that do not give camera positions to the image that sends from video generation device 10, also can calculate camera positions by the position of calculating bedroom platform and arm front end (X-ray detector), and be given to image.
In addition, also contact or contactless displacement transducer (tester: angular sensor, slant angle sensor, linear displacement transducer etc.) can be arranged on each axle and bedroom platform of video generation device 10, and from each tester coordinates computed.
(variation 2)
Variation 2 is expressed as follows the embodiment in situation: video generation device 10 is not connected via network with image management apparatus 20, perhaps owing to can not carrying out the reason such as image transmission in photography, so image management apparatus 20 can not receive the data of present image.Figure 16 means the figure of structure of the image display system of variation 2.As shown in figure 16, image display system also possesses camera system 50 except video generation device 10, image management apparatus 20 and image observing device 30.Video generation device 10 has frame 11 and monitor 12.Frame 11 generates the data of present image in current IVR operation.Monitor 12 shows present image.The lead-out terminal of monitor 12 is connected by cable with the lead-out terminal of image observing device 30.The data of the present image that monitor 12 is shown send to image observing device 30 via this cable.Image observing device 30 is presented at the present image that receives on the monitor of image observing device 30.The shown present image of monitor of 50 pairs of image observing devices 30 of camera system record a video photography and generating video data.The video data that generates sends to image management apparatus 20 as the data of present image via network by camera system 50.Can carry out the processing identical with processing (for example automatic selection and the display process of Figure 11) afterwards.In addition, camera system 50, image management apparatus 20 are connected with image observing device and also can be connected via cable.And not only the data of the data of present image, past image also can send to by same method image management apparatus 20.
Figure 17 means the figure of other structures of the image display system of variation 2.The camera system 50 of the image display system of Figure 17 is to the shown present image of monitor 12 record a video photography and generating video data.The video data that generates sends to image management apparatus 20 by the data of camera system 50 as present image via network.Can carry out the processing identical with processing (for example automatic selection and the display process of Figure 11) afterwards.In addition, camera system 50, image management apparatus 20 are connected with image observing device and also can be connected via cable.And not only the data of the data of present image, past image also can send to by same method image management apparatus 20.
Figure 18 means the figure of another other structures of the image display system of variation 2.The image display system of Figure 18 has video generation device 10, image management apparatus 20 and image observing device 30.Video generation device 10 has frame 11 and monitor 12.In current IVR operation, frame 11 generates the data of present image.Monitor 12 shows present image.The lead-out terminal of monitor 12 is connected by cable with the lead-out terminal of image observing device 30.The data of the present image that video generation device 10 is shown with monitor 12 send to image observing device 30 via cable.Image observing device 30 is presented at the present image that receives on the monitor of image observing device 30.Image management apparatus 20 is connected with image observing device and is connected via network.The data of present image send to image observing device 30 from image management apparatus 20 via network.Image management apparatus 20 is connected with image observing device and also can be connected via cable.And, the data of present image not only, the data of past image also can send to by same method image management apparatus 20.
By said structure, in the situation that the data of present image can not be sent to image management apparatus 20 from video generation device 10, also the data of present image can be sent to image management apparatus 20.
(variation 3)
The idea of the image display system basis of variation 3 is " form of human body Major Vessels is according to the difference at position and difference, if learn the form of blood vessel can determine the position ".
Figure 19 means the figure of structure of other image display systems 60 of variation 3.As shown in figure 19, image management apparatus 60 as maincenter, and has Department of Communication Force 22, storage part 61, catheter proximal end determination portion 62, blood vessel as extraction unit 63, route map generating unit 24, catheter proximal end position calculation section 64, camera positions assigning unit 65 and image selection portion 27 with control part 21.
Catheter proximal end determination portion 62 is determined the catheter proximal end picture by deduct the fluoroscopy images of photographing in same position before mask images is tight from mask images.
Blood vessel according to the catheter proximal end position of being determined by catheter proximal end determination portion 62, extracts the blood vessel picture that conduit passes through as extraction unit 63 from image.
Route map generating unit 24 is configured on the route map plane according to camera positions by a plurality of conduit pictures that a plurality of in the past images are contained, generates route map.
Catheter proximal end position calculation section 64 carry out with template figure as template, with the blood vessel picture as a comparison the template matching of image process, and the blood vessel the position of image on calculation template figure.
Camera positions assigning unit 65 is given this past image with the blood vessel the position of image on template figure as camera positions.
Processing is given in the camera positions that variation 3 is described.A plurality of images in the past that 1 operation image sets of storage in storage part 61 is contained carry out route map and generate processing as object.
Figure 20 means that the camera positions of variation 3 give the figure of the summary of processing.As shown in figure 20, at first, video generation device 10 generates the data of the image B I relevant to the blood vessel picture that passes through the contrast agent radiography.Also contain the conduit picture in image B I.According to the catheter proximal end position of being determined by catheter proximal end determination portion 62, the blood vessel that the extraction conduit passes through from image B I is as CB as extraction unit 63 for blood vessel.Catheter proximal end position calculation section 64 by with template figure TM as template, with blood vessel as BI as a comparison the template matching of image process, determine the blood vessel the position of image on template figure TM.In the situation that only can not determine unique position by the form of blood vessel, the bone that draws around also extracting etc., and use in template matching is processed.Camera positions assigning unit 65 is given this image with the blood vessel the position of image on template figure TM as camera positions PP.Blood vessel the position of image on template figure is for example the endpoint location of the blood-vessel image on template figure.When being endowed camera positions, route map generating unit 24 generates route map by the processing after the step SA5 that carries out Fig. 4.At this moment, the coordinate system of route map is identical with the coordinate system of template figure.
In addition, the catheter proximal end of catheter proximal end determination portion 62 determines that processing not only is defined in said method.For example, catheter proximal end determination portion 62 also can inserted from certain direction under the prerequisite of conduit, with the end points of in the direction blood vessel picture as the catheter proximal end position.And, doctor etc. also can be on image labelling (Port イ Application ト The Ru) catheter proximal end position.
By above-mentioned formation, even in the situation that do not give camera positions to the image that sends from video generation device 10, also can be by coming the camera positions of computed image with template figure, and the camera positions that calculate are imparted to image.
To those skilled in the art, other advantages and accommodation be easy to join conceivable.Therefore, the present invention is not limited to detail and illustrative embodiment that the application provides and describes with regard to its broad aspect.Therefore, under the prerequisite of the total inventive concept spirit that does not depart from the definition of claims and equivalent thereof or protection domain, can make various modifications.
Claims (13)
1. image display device is characterized in that possessing:
Storage part is stored in a plurality of data of images in the past that generate in catheterization in the past, and described a plurality of images in the past are to setting up respectively that related a plurality of zoness of different are photographed and the image that obtains with a plurality of positions;
Generating unit configures a plurality of the first conduit pictures or the blood vessel picture that comprises respectively in above-mentioned a plurality of image in the past according to the position relationship of above-mentioned a plurality of zoness of different, generate thus the route map of the distribution of above-mentioned a plurality of the first conduit pictures of expression or blood vessel picture;
The first determination portion, the determining section of the second conduit picture that the present image of determining to generate in current catheterization comprises;
The first calculating part according to above-mentioned present image and above-mentioned a plurality of position relationship of image in the past, calculates the above-mentioned definite position of determining section on above-mentioned route map; And
Display part shows the past image of determining in above-mentioned a plurality of image in the past, corresponding with the position of above-mentioned calculating.
2. image display device according to claim 1, is characterized in that,
Above-mentioned generating unit is distributed the identifying information of the past image that derives from this first conduit picture or blood vessel picture to above-mentioned the first conduit picture or blood vessel picture on above-mentioned route map,
Above-mentioned display part shows the above-mentioned definite past image that is associated with any one identifying information in two kinds of identifying informations, one of described two kinds of identifying informations are the identifying informations that the first pixel of above-mentioned the second conduit picture on above-mentioned route map is distributed, and another kind is the identifying information that the second pixel of leaving predetermined distance from above-mentioned the first pixel is distributed.
3. image display device according to claim 1, is characterized in that,
Above-mentioned generating unit according to adjacent 2 above-mentioned the second inclinations of conduit picture on above-mentioned route map that clip above-mentioned interrupt unit, is carried out interpolation to above-mentioned interrupt unit in the situation that have interrupt unit in above-mentioned route map.
4. image display device according to claim 1, is characterized in that,
Above-mentioned display part shows above-mentioned route map.
5. image display device according to claim 1, is characterized in that,
Above-mentioned display part is expressed the position of the above-mentioned determining section on above-mentioned route map, shows above-mentioned route map.
6. image display device according to claim 1, is characterized in that,
Above-mentioned display part is expressed the position of the above-mentioned definite past image on above-mentioned route map, shows above-mentioned route map.
7. image display device according to claim 1, is characterized in that,
Also possess the second calculating part, this second calculating part is according to the labelling and the relative position relation that is arranged on the labelling on X-ray detector that are arranged on the bedroom platform, the position of calculating above-mentioned image in the past or above-mentioned present image.
8. image display device according to claim 1, is characterized in that, also possesses:
The let others have a look at data of template figure of the form of body Major Vessels and the position on anatomy of the second storage part, storage list; With
The second determination portion, look like to carry out template matching by the above-mentioned blood vessel that comprises in above-mentioned template figure and above-mentioned image in the past or above-mentioned present image and process, the above-mentioned blood vessel the position of image on above-mentioned template figure is defined as the position of above-mentioned image in the past or above-mentioned present image.
9. an image display system, possess video generation device, image management apparatus and image observing device, it is characterized in that,
Above-mentioned video generation device has:
Generating unit generates the data of the present image in current catheterization; With
The first sending part sends the data of the present image of above-mentioned generation to above-mentioned image management apparatus,
Above-mentioned image management apparatus has:
Storage part is stored in a plurality of data of images in the past that generate in catheterization in the past, and these a plurality of images in the past are to setting up respectively that related a plurality of zoness of different are photographed and the image that obtains with a plurality of positions;
The route map generating unit configures a plurality of the first conduit pictures or the blood vessel picture that comprises respectively in above-mentioned a plurality of image in the past according to the position relationship of above-mentioned a plurality of zoness of different, generate thus the route map of the distribution of above-mentioned a plurality of the first conduit pictures of expression or blood vessel picture;
Determination portion is determined the conduit picture from the present image of above-mentioned transmission;
Selection portion from the data of above-mentioned a plurality of in the past images of generating above-mentioned route map, is selected the data of the definite past image corresponding with above-mentioned definite conduit the position of image; And
The second sending part sends the data of the past image of determining of above-mentioned selection to above-mentioned image observing device,
Above-mentioned image observing device has display part, and this display part shows the past image of determining of above-mentioned transmission.
10. image display system according to claim 9, is characterized in that,
Above-mentioned video generation device, above-mentioned image management apparatus and above-mentioned image observing device interconnect via network.
11. image display system according to claim 9 is characterized in that,
Above-mentioned video generation device, above-mentioned image management apparatus and the image observing device of being connected connect by cable.
12. image display system according to claim 9 is characterized in that,
Above-mentioned video generation device be connected image observing device and connect by cable;
Above-mentioned image management apparatus be connected image observing device and connect via network.
13. an image display system possesses video generation device, camera system, image management apparatus and image observing device, it is characterized in that,
Above-mentioned video generation device has:
Generating unit generates the data of the present image in current catheterization; With
The first display part, the present image of the above-mentioned generation of demonstration,
Above-mentioned camera system is recorded a video to photograph to the present image of above-mentioned demonstration and is generated video data, and the video data transmitting that generates is delivered to above-mentioned image management apparatus,
Above-mentioned image management apparatus has:
Storage part is stored in a plurality of data of images in the past that generate in catheterization in the past, and these a plurality of images in the past are to setting up respectively that related a plurality of zoness of different are photographed and the image that obtains with a plurality of positions;
The route map generating unit configures a plurality of the first conduit pictures or the blood vessel picture that comprises respectively in above-mentioned a plurality of image in the past according to the position relationship of above-mentioned a plurality of zoness of different, generate thus the route map of the distribution of above-mentioned a plurality of the first conduit pictures of expression or blood vessel picture;
Determination portion is determined the conduit picture from the video data of above-mentioned transmission;
Selection portion from the data of above-mentioned a plurality of in the past images of generating above-mentioned route map, is selected the data of the definite past image corresponding with above-mentioned definite conduit the position of image; And
The second sending part sends the data of the past image of determining of above-mentioned selection to above-mentioned image observing device,
Above-mentioned image observing device has the second display part, and this second display part shows the past image of determining of above-mentioned transmission.
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| US20090196473A1 (en) | 2009-08-06 |
| CN101496740A (en) | 2009-08-05 |
| JP5229873B2 (en) | 2013-07-03 |
| US8965072B2 (en) | 2015-02-24 |
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